Beruflich Dokumente
Kultur Dokumente
JAKOB KUTTENKEULER
Ship maneuverability
Table of Contents
Ship maneuverability
Introduction
This guide is meant as the main instruction for the ship maneuverability part of the KTH
course in marine dynamics on a master level. Most of the theoretical basis is however given
in the ABS guide for vessel maneuverability. This guide will instruct the reader to take on the
material and perform tutorial exercises which will lead to a final implementation of a fully
functional computer code for vessel maneuverability. A set of homework assignments are
also included and will be marked according to course program.
Lectures/workshops will be held on the content and will serve as further clarification to the
tutorial exercises which are meant to be done in sequence in order to work with the material.
Good luck and have fun!J
Jakob Kuttenkeuler
Tutorial exercises
Here is a set of exercises to practice your skills in modeling and solving techniques for
equations of motions, especially with focus on ship maneuverability. Work with them in
sequence as they are designed to guide you through the material.
Exercise 1: Free falling ball with air resistance
You will here train your skills of mechanical modeling, handling equations of motions,
numerical treatment of the equations by numerical integration through calculating the free fall
of a table tennis ball. Now, read Appendix A and use Matlabs ODE45 function to solve the
equation. I have done most of the work for you J. Generate the following function where you
only need to fill in a few lines and swap the xxx for something nicer. Also, learn to understand
the code.
function Xval_p = freefall_EOM(t,Xval,m,rho ,A ,Cd, g)
% a few simple lines are missing
z
= Xval(1);
% [m]
Position
zp
= Xval(2);
% [m/s] velocity
zpp
= xxx;
% [m/s2] Acceleration
Xval_p = [zp ; zpp];
% New system state vector
Then unleash ODE45 and verify my results in Appendix A. Also check the terminal speed
against analytical solution.
Hint: Tell Jakob you want to borrow a ball to experimentally measure the falling time from the
top floor in Sing-Sing to compare with your calculations.
Ship maneuverability
a) Calculate the path of a ball with mass m=0.1kg being thrown at an elevation angle of 45
from a height of 1.5m and with an initial speed of 60m/s. Neglect air resistance. Compare
with my results in Figure 1.
b) Now add air resistance. The diameter of the ball is 0.1m, drag coefficient Cd =1.0 and the
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air density is =1.2kg/m . My calculations say that the ball is thrown 15.7m. Do you
agree?
Ship maneuverability
% Nondimensional derivatives
a
= [-0.001331 -0.000894 -0.000894 -0.001722]; % Coeffs from A3.55
b
= [-0.001011 -0.000649 0.001016 -0.000619];
c
= [ 0.001827 0.001543 0.0000004 -0.000813];
Xup
= -0.00086;
Xvr
= 0.01095;
Xvv
= 0.00287;
Xdd
= -0.001;
Xrr
= 0.0;
Xvvn = 0.000;
Xddnn = -0.00135;
Yvp
= -0.0146;
Ys
= 0.000063;
Yv
= -0.011;
Yvv
= -0.0398;
Yr
= 0.00394;
Ydr
= 0.0;
Yvr
= -0.0152;
Yrp
= -0.00025;
Yd
= 0.00416;
Ydn
= 0.00416;
Yrn
= 0.00138;
Yvn
= -0.00266;
Yvvn = 0.0;
Ysn
= 0.000063;
Nrp
= -0.000964;
Ns
= -0.000033;
Nv
= -0.00798;
Nvv
= 0.00754;
Nr
= -0.00294;
Nrr
= 0.0;
Nrn
= 0;
Nvr
= -0.00495;
Nvp
= -0.00005;
Nd
= -0.00216;
Ndn
= 0;
Ship maneuverability
Nvn
Nvvn
Ndr
Nsn
= 0.00138;
= 0.0;
= -0.00072;
= -0.000033;
Solve the equation for a period of 1000 seconds with uc =15 knots and R =0. Plot your
results (especially the path but also turning rate and velocities) and reflect on your results.
Play around with simulations to learn to know your code and model. Does the model behave
as you expected? If not, find out why etc
Ship maneuverability
Homework assignments
M1: Full scale maneuverability tests
Perform evaluate and report ship maneuverability experiments according to ABS-standards.
You will either perform a circle test or zig-zag test depending on ship availability, group sizes
etc. Do not repeat ABS-instruction but focus on methodology, results and reflective
comments. Please indicate in your report the amount of hours you spent on the assignment.
M2: Equations of motions: modeling and solving
Write a short summary (a manual that you can use later in life) on how to numerically solve
equations of motions of the type that you encounter here. Include single degree of freedom
problems as well as multiple DOF problems. Come up with a new problem to model and
analyze as example (You can basically choose any mechanical system you find in your
everyday life, at home etc.). You can also e.g. report your table tennis experiments vs
analysis etc. Also describe with your own words pedagogically how to rewrite the second
order ordinary differential equation as a system of first-order differential equations. I expect
2-4 pages. Please indicate in your report the amount of hours you spent on the assignment.
M3: Numerical assessment of ship maneuverbility
Perform evaluate and report ship maneuverability experiments according to the exercises in
this tutorial. I want your report to include a short executive summary of relevant theory (2
pages) and results and discussion (2 pages). Please indicate in your report the amount of
hours you spent on the assignment.
Ship maneuverability
= f (t, , )
(t 0 ) = 0
(t 0 ) = 0
(1)
To simplify solving the equation we now want to rewrite the second order ordinary differential
equation as a system of 2 first-order differential equations by introducing the new state
variables 1 and 2 . Rearrange (1) into
1 =
2 =
(2)
1 = 2
2 = f (t, 1 , 2 )
1 (t 0 ) = n0
with initial conditions
.
2 (t 0 ) = n0
(3)
z = g +
ACd
z z
2m
z0 = 10
with initial condition
z0 = 0
Which is by the introduction of Introducing
order equations on the form
z1
z2
(4)
=
= g +
z2
ACd
z z
2m
(5)
Ship maneuverability
z0 = 10
z0 = 0
which can now be integrated by e.g. the Matlab solver ODE45. When use (5) and ODE45 to
calculate the fall of a table tennis ball from a height of 10 meters I get the results visualized in
Figure 2.
Figure 2. The results of integration of EOM for free falling table tennis ball.
Ship maneuverability
t0 = 0 the ship origin is located at the origin of the global frame of reference.
Consider the ship as a rigid body with constant mass m (which might be including added
mass). Newtons second law of motion in the three degrees of freedom gives
Fx 0
m
x0
Fy0
m
y0
M z0
= I zz
(6)
Where the use of subfix "0" indicates that the equation is in reference to the global coordinate
system. Next step is to express equation (6) in the ship fixed coordinate system. From ABS
Fig. A6 it is seen that the velocities are transformed between the ship referenced and the
earth fixed system by the relations
x0 = ucos vsin
,
y0 = usin + v cos
where the following substitution is done
time (7) becomes
(7)
vsin
+ ( usin v cos ) r
x0 = ucos
(8)
The forces can in a similar manner be transformed from the global system to the ship-fixed
coordinate system as
(9)
where the external loads in the ship fixed reference system is expressed as X, Y and N. The
relation from (6) can now be expressed in the local ship fixed coordinate system by inserting
(8) into (6) and then substituting into expressions in (9) which gives Newtons second law of
motion (often referred to as the equation of motion EOM) in the shop fixed coordinate system
as
= m (u vr ) (surge)
= m ( v + ur )
(yaw)
I zz r
(10)
The equation of motion is now derived and ready to be used to simulate the ship behavior in
the water as soon as the external loads X, Y and N on the left hand side is available J.
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